Robustness of Noisy Consensus Dynamics with Directed Communication
George Forrest Young, Luca Scardovi and Naomi Ehrich Leonard
Proceedings of the American Control Conference, Baltimore, MD, 2010.
In this paper we study robustness of consensus in networks of coupled single
integrators driven by white noise. Robustness is quantified as the H2 norm of the closed-loop
system. In particular we investigate how robustness depends on the properties of the underlying
(directed) communication graph. To this end several classes of directed and undirected
communication topologies are analyzed and compared. The trade-off between speed of convergence and
robustness to noise is also investigated.
(198 KB pdf)
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